CN113271357B - Ground-air cooperative networking system and control method - Google Patents
Ground-air cooperative networking system and control method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/16—Gateway arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to a ground-air cooperative networking system and a control method, wherein the system comprises a high-altitude mobile gateway node device, a ground mobile gateway node device and a supervision background, wherein the high-altitude mobile gateway node device is responsible for acquiring images from high altitude and sending the images to the supervision background in real time; the ground mobile gateway node device is responsible for acquiring images from the ground and sending the images to the supervision background in real time; the supervision back office controls the two gateway node devices. The invention uses the unmanned aerial vehicle as a master-slave high altitude to carry out target detection, image acquisition and video transmission, and uses the trolley on the ground to carry out image acquisition on the plane terrain and assists the networking device for surveying, thereby not only obtaining clear high altitude and plane image information, but also position information and terrain information. The invention utilizes the multi-rotor unmanned aerial vehicle and the unmanned trolley to effectively complement the short boards of the multi-rotor unmanned aerial vehicle and the unmanned trolley during operation, completes the inspection task more efficiently, and reduces loss greatly during operation failure.
Description
Technical Field
The invention belongs to the field of communication network systems, and particularly relates to a ground-air cooperative networking system, in particular to a networking system which uses an unmanned aerial vehicle as a master-slave high altitude to carry out target detection, image acquisition and video transmission, and uses a trolley on the ground to carry out auxiliary survey on a plane terrain, and a control method of the system.
Background
Since the beginning of the 20 th century, the radio-operated small aircraft appeared on battlefields of war i, which changed the war office momentarily after its successful development and putting into war i, and since then the countries have been working on the development of drones, whether in the first military field of application, or to the present agricultural field or other fields. Unmanned aerial vehicles play an indispensable role, have derived various forms and developed various functions in recent years from appearance to present, and by virtue of the advantages of small size, low cost, difficulty in discovery, convenience in deployment and the like, the unmanned aerial vehicles are widely applied to various aspects of military and civil fields, such as real-time monitoring, automatic tracking, searching and rescue, relay transmission and the like. Put eyes in present unmanned aerial vehicle market, civilian unmanned aerial vehicle is often used for city drawing, topography survey or is that the place is patrolled and examined, and the operation is carried out to supplementary agricultural. However, most of the existing unmanned aerial vehicle market is in the form of a single machine, and the unmanned aerial vehicle is often influenced and interfered by external or self, such as air rubbish or environmental influence, in the flight process, so that the original flight plan of the unmanned aerial vehicle is disturbed and the acquired data may be lost.
The trolley is used as a ground unit, the stability is better than that of an unmanned aerial vehicle, the trolley is not easily influenced by the surrounding sudden change environment, and the trolley is used as a ground unit, senses the road environment through a sensing system, automatically plans a driving route and controls a vehicle to reach a preset target; and simultaneously, sensing the surrounding environment through a vehicle-mounted sensor, and obtaining road, vehicle position and obstacle information according to sensing. However, the trolley also has the obvious defect that the acquired information bit plane is single, and only image information can be acquired from a plane angle.
ZL201310065386X discloses an air-space-ground cooperative multimedia network system, which comprises a plurality of communication nodes, wherein each communication node is composed of air-base communication network equipment, land-base communication network equipment or space-base communication network equipment, a microwave communication mode is adopted among the communication nodes in a near field area with the radius not exceeding one hundred kilometers, a satellite communication mode is adopted between each communication node in the near field area and each communication node in a remote area, data streams are communicated by taking IP (Internet protocol) as an information bearing mode, the air-space-ground integrated wireless communication is realized, the communication needs to be realized through a satellite, and a system framework based on an 802.11 standard local area network is not involved.
ZL2018110576788 discloses a many unmanned aerial vehicle cooperative control system, and a plurality of unmanned aerial vehicles in the system are connected through an inter-aircraft communication network, and although the control system is high in real-time performance, the realization cost is high, at least a plurality of unmanned aerial vehicles are needed to play the role of the system, and a ground mobile gateway communication node system is not involved.
ZL2019109917926 discloses an air-ground cooperative unmanned system, which utilizes a plurality of unmanned aerial vehicle networks consisting of unmanned aerial vehicles and a plurality of robots to form a robot network for man-machine interaction, receives detection information, displays the detection information in real time, and transmits and controls an air unmanned system and a ground unmanned system, but the system has too many high-altitude mobile gateway nodes required for implementation, so that the probability of failure of an airplane is increased, and the unmanned system does not disclose a specific autonomous planning system.
Therefore, when the single machine fails to operate, the acquired data are difficult to return, the possibility of damage to equipment carried by the aircraft is greatly increased, and the trolley has the obvious defect that the acquired information is single in position and can only acquire image information from a plane angle.
Disclosure of Invention
In order to solve the problems, the invention provides another ground-to-air system networking system, a high-altitude mobile gateway node device and a ground mobile gateway node device, namely a multi-rotor unmanned aerial vehicle and an unmanned trolley, are utilized to effectively complement short boards of the high-altitude mobile gateway node device and the ground mobile gateway node device during operation, so that a routing inspection task is completed more efficiently, and data generated by an equipment terminal can be processed through a gateway and forwarded to a final manual supervision background.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to a ground-air cooperative networking system, which comprises a high-altitude moving gateway node device, a ground moving gateway node device and a supervision background, namely a ground station, wherein the high-altitude moving gateway node device is a multi-rotor unmanned aerial vehicle, the ground moving gateway node device is an unmanned trolley, the multi-rotor unmanned aerial vehicle acquires images from high altitude and sends the images to the supervision background in real time, the multi-rotor unmanned aerial vehicle is communicated with the unmanned trolley and the supervision background and sends flight height, speed and position information of the multi-rotor unmanned aerial vehicle to the supervision background in real time, a flight route of the multi-rotor unmanned aerial vehicle is controlled by the unmanned trolley, a starting point is set by the supervision background, a task in the system is responsible for performing cooperative inspection along with the unmanned trolley and sends the images from high altitude to background personnel in real time, the unmanned trolley is responsible for routing inspection from the starting point to the ending point on the ground and then returning to the starting point, the images from the ground are sent to the supervision background and the unmanned aerial vehicle and the ground station to communicate with the multi-rotor unmanned aerial vehicle and the ground station, the background and the unmanned aerial vehicle and the ground station send the self position and speed of the unmanned aerial vehicle to the supervision background personnel in real time, the supervision background, the supervision personnel select an onboard advancing mode, and the computer loaded on the ground station controls the supervision route; task in the system is responsible for patrolling and examining from the starting point on ground and marching to the terminal point back original route and returning to the starting point, gather the image from ground and send for backstage personnel in real time, supervision backstage communicates with many rotor unmanned aerial vehicle and unmanned vehicle, receive the position that many rotor unmanned aerial vehicle and unmanned vehicle returned, information such as speed, and can receive the image, can control many rotor unmanned aerial vehicle and unmanned vehicle, make it patrol and examine the investigation in appointed starting and finishing point, and can carry out error detection maintenance to proruption situation.
The invention is further improved in that: many rotor unmanned aerial vehicle includes:
a rack: the frame includes fuselage and undercarriage, though adorn the aircraft oar guard circle cover but does not have the duct, so unmanned aerial vehicle's pulling force relies on the pulling force that screw itself produced. The system is used for bearing the self-driving instrument, the airborne computer, the machine vision module, various data acquisition modules and the power system;
a power system: the system comprises a propeller, a motor, an electric regulator and a battery, and is used for providing power for the multi-rotor unmanned aerial vehicle to enable the multi-rotor unmanned aerial vehicle to stably operate;
an embedded single-chip microcomputer: the system is used for receiving signals of the supervision background and controlling the taking-off and landing modes of the multi-rotor unmanned aerial vehicle;
a machine vision module: the unmanned aerial vehicle module is used for establishing communication with the unmanned aerial vehicle, judging the position of the unmanned aerial vehicle, controlling the flight speed of the multi-rotor unmanned aerial vehicle and confirming that the multi-rotor unmanned aerial vehicle is always in the module acquisition range;
a positioning module: the system is used for acquiring satellite signals and controlling the multi-rotor unmanned aerial vehicle to fly under certain conditions;
an airborne computer: the system is used for acquiring images, transmitting the images to the supervision background in real time for inspection, carrying various sensors to acquire data and selectively transmitting the data to the supervision background, and the airborne computer of the multi-rotor unmanned aerial vehicle is realized by an embedded GPU microcomputer based on an ARM;
the command control system comprises: the flight control system is used for receiving data acquired by various data acquisition modules, receiving flight instructions from the embedded single chip microcomputer to confirm a take-off mode and controlling flight by speed signals from the machine vision module.
The invention is further improved in that: the unmanned trolley comprises
A frame: the device is used for bearing various sensors and various control modules of the unmanned trolley;
a driving system: the unmanned vehicle comprises an embedded type micro single chip controller, a motor and an adapter plate, wherein the embedded type micro single chip controller is used for controlling the advancing and steering actions of the unmanned vehicle, receiving signals from an onboard computer and controlling the advancing mode by the signals;
binocular camera: the system is used for acquiring images and navigating the unmanned aerial vehicle to complete inspection;
laser radar: the method comprises the steps of constructing a plan for planning a route to avoid obstacles;
an ROS controller: the unmanned vehicle onboard computer is used for planning a vehicle traveling route, controlling the traveling speed of the unmanned vehicle, receiving optical signals reflected by the binocular camera and the laser radar, transmitting image information and vehicle position and speed information to the supervision background, and communicating with the supervision background, and is realized through an embedded GPU microcomputer based on an ARM.
The invention is further improved in that: the supervision background comprises a data receiving and transmitting end which is realized by a notebook computer and a desktop computer and is used for receiving data and images from the high-altitude mobile gateway and the ground mobile gateway.
The invention is further improved in that: the high-altitude mobile gateway node device, the ground mobile gateway node device and the supervision background are all provided with WiFi wireless communication modules, data receiving and sending are achieved through a wireless local area network, namely state information of the unmanned vehicle and image information of the multi-rotor unmanned vehicle and the unmanned vehicle are received, and networking systems of the multi-rotor unmanned vehicle, the unmanned vehicle and the supervision background are achieved.
The invention discloses a control method of a ground-air cooperative networking system, which comprises the following steps:
step 1: starting a supervision background, a high-altitude mobile gateway node device and a ground mobile gateway device;
step 2: starting a laser radar by the ground mobile gateway device and setting a terminal point;
and step 3: inputting a take-off instruction by a supervision background, confirming a flight mode by a high-altitude mobile gateway node device, entering a preset airspace, identifying an unmanned trolley and judging the position;
and 4, step 4: after flying into a predicted track right above the unmanned vehicle, the multi-rotor unmanned vehicle performs temporary fixed-height fixed-point flight, establishes a communication channel with a supervision background, namely a ground station, and receives data acquired by an onboard computer;
and 5: after the ground mobile gateway device sets a terminal point, the ground mobile gateway device starts countdown, the countdown is finished, a binocular camera is started to conduct navigation, the acquired image is returned to a supervision background, and the unmanned vehicle advances according to a route planned by an airborne computer;
and 6: the multi-rotor unmanned aerial vehicle moves by judging the position of the unmanned trolley, and a supervision person in a supervision background observes the wirelessly transmitted image for inspection;
and 7: if an emergency occurs, a monitoring person in the monitoring background records the position of the unmanned trolley, stops the unmanned trolley to move in the monitoring background, finally carries out on-site investigation and error elimination until the alarm is removed, and continues the unmanned trolley to complete the next step;
and step 8: if not meet emergency, the unmanned trolley returns to the starting point on the original way after advancing to the terminal point, gets into standby state, and many rotor unmanned aerial vehicle follow unmanned trolley and get back to the starting point, supervise backstage's supervision personnel input landing instruction, and many rotor unmanned aerial vehicle descend and get into standby state, waits for next time to take off or close the system after ground-air cooperative networking is in coordination patrolling and examining the operation and is accomplished.
The invention has the beneficial effects that:
(1) In the invention, parts of sensor modules with high precision and great damage loss, such as binocular cameras, laser radars and other devices, are transferred to the unmanned trolley, and the trolley can realize the functions of autonomous planning and image acquisition through the radars in the proposed networking coordination, so that the functions of the system cannot be reduced, and the loss of system accessories is greatly reduced;
(2) Compared with single-machine operation, the multi-rotor unmanned aerial vehicle-unmanned trolley collaborative networking system realizes that site data is not acquired singly and real-time image transmission is carried out, so that background supervisory personnel can know site conditions in multiple directions and make more accurate judgment and think of more effective solutions, and supervision tasks become more efficient and convenient;
(3) The unmanned aerial vehicle and the trolley are both provided with onboard computers, in a system with various technical interaction, a gateway integrates various heterogeneous network communication protocols, can simultaneously communicate with equipment or subsystems using different protocols, has low power consumption and high reliability, is provided with video codecs such as MPEG-2, MPEG-4, H.264, AVC and the like, and has low time delay and low definition of a unique CSI camera of the onboard computer and meets the requirement of inspection, so that the unmanned aerial vehicle and the trolley can conveniently realize image transmission without additionally purchasing expensive image transmission data transmission modules, the expenditure is reduced, and the problem that the unmanned aerial vehicle is increased in flight difficulty due to the increase of modules is avoided;
(4) The invention operates in the communication local area network based on the 802.11 standard, the omnidirectional antenna diverges, and the cost of deployment and expansion is reduced.
The invention has the characteristics of high safety, good stability and stable transmission. The method is applied to the inspection of articles in a warehouse and the exploration of complex terrains.
Drawings
Fig. 1 is a block diagram of the structure of the present invention.
FIG. 2 is a flow chart of the operation of the present invention.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the embodiments of the invention. It should be understood, however, that these implementation details should not be taken to limit the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
The invention relates to a ground-air cooperative networking system which comprises a multi-rotor unmanned aerial vehicle, an unmanned trolley and a supervision background, wherein the multi-rotor unmanned aerial vehicle and the unmanned trolley are connected with the supervision background through an airborne computer and a wireless communication module; the unmanned vehicle is responsible for planning a route, automatically avoiding obstacles and automatically advancing under the condition of giving a starting point and a finishing point; the multi-rotor unmanned aerial vehicle performs ground-air cooperative inspection through the following trolley and the unmanned trolley; the supervision backstage is responsible for receiving the image that ground-air networking transmitted back to control dolly, unmanned aerial vehicle's running state, when many rotor unmanned aerial vehicle and unmanned aerial vehicle networking function in coordination, complemented obvious short slab, and can be more comprehensive gather the image, make the supervision backstage accomplish the task of patrolling and examining more high-efficiently.
As shown in fig. 1, the networking coordination system of the present invention includes an overhead mobile gateway node device, a ground mobile gateway node device, and a ground station, that is, a multi-rotor unmanned aerial vehicle, an unmanned vehicle, and a supervision background, where the multi-rotor unmanned aerial vehicle adopted in this embodiment is a semi-open source four-rotor aircraft, carries various sensors such as a positioning module and a model lithium battery, and performs a take-off and landing action under the control of the supervision background and coordinates with and stably flies above the unmanned vehicle.
WIFI communication module is all carried on many rotor unmanned aerial vehicle and unmanned vehicle's machine carries on the machine carries computer, links to each other with the embedded GPU WeChat computer on the ground air movement gateway device respectively, realizes the transmission of image and realizes the mutual biography of data, carries out data reception by machine carries computer server, has improved the network expansion ability of system and the suitability of device.
The invention discloses a multi-rotor unmanned aerial vehicle which comprises a rack, a power system and a command control system. On the basis, the positioning module, the machine vision module and the onboard computer are additionally arranged on the device, wherein: the frame includes fuselage and undercarriage, though adorn the aircraft oar guard circle cover but does not have the duct, so unmanned aerial vehicle's pulling force is all by the pulling force that screw itself produced for bear autopilot, machine-carried computer, machine vision module and various data acquisition modules and driving system.
The power system comprises a propeller, a motor, an electric regulator and a battery and is used for providing power for the multi-rotor unmanned aerial vehicle to enable the multi-rotor unmanned aerial vehicle to operate stably.
The command control system is used for receiving data acquired by various data acquisition modules, receiving flight instructions from the embedded single chip microcomputer to confirm a take-off mode, and receiving speed signals from the machine vision module to control flight, and adopts an embedded single chip microcontroller.
Rotor unmanned aerial vehicle's autopilot passes through embedded monolithic microcontroller and realizes, uses ARDC control algorithm control many rotor unmanned aerial vehicle's stability, embedded singlechip: the system is used for receiving signals of a supervision background and controlling the take-off and landing modes of the multi-rotor unmanned aerial vehicle.
The airborne positioning module adopts a GPS module and is used for acquiring GPS information of the unmanned aerial vehicle in real time and transmitting the GPS information to the flight control module, and the unmanned aerial vehicle is used for assisting in controlling flight at a certain time.
The airborne computer is used for collecting images, the images are transmitted to the supervision background in real time, the monitoring background is used for polling and carrying various sensors to collect data and selectively transmit the data to the supervision background, the airborne computer of the multi-rotor unmanned aerial vehicle is realized by an embedded GPU microcomputer based on an ARM, CSI serial port communication is carried on the airborne computer, connection of a CSI camera for image collection is achieved, the airborne computer module adopts an extra Ubuntu18.04+ Opencv processing platform to identify the obtained images, and the collected images are transmitted to the supervision background in real time.
The machine vision module is through discerning the external characteristics of dolly, leaves vision module sight range after for many rotor unmanned aerial vehicle signals at unmanned dolly to control its flight operation, follow the dolly at last and accomplish the task of patrolling and examining.
The unmanned trolley comprises a frame, a driving system, a ros controller, and various modules such as an onboard computer and a lithium battery, in addition, the unmanned trolley is additionally provided with a binocular camera and a laser radar, wherein:
the frame is used for bearing various sensors and various control modules of the unmanned trolley;
a driving system: the unmanned vehicle comprises an embedded micro single-chip controller, a motor and an adapter plate, wherein the embedded micro single-chip controller is used for controlling the advancing and steering actions of the unmanned vehicle, receiving signals from an onboard computer and controlling the advancing mode by the signals, and a driving system single-chip microcomputer of the vehicle is realized by the embedded single-chip microcontroller.
The binocular camera is used for collecting images and used for navigation unmanned aerial vehicle to finish inspection.
The laser radar is used for constructing a plan view for planning a route and avoiding obstacles.
The ROS controller is specifically an onboard computer, is used for planning a trolley travelling route, is used for controlling the travelling speed of the unmanned trolley, is used for receiving optical signals reflected by the binocular camera and the laser radar, is used for transmitting image information and vehicle position and speed information to the supervision background, and is used for communicating with the supervision background.
The vehicle-mounted computers of the multi-rotor unmanned aerial vehicle and the unmanned trolley are respectively provided with a WIFI communication module and are respectively connected with an embedded GPU microcomputer on the multi-rotor unmanned aerial vehicle and an embedded GPU microcomputer on the unmanned trolley to realize image transmission.
The supervision background comprises a data receiving and transmitting end which can be realized by a notebook computer and a desktop computer, and a communication module and a supervision module are arranged on the supervision background device; the communication module rotor unmanned aerial vehicle and an airborne computer or a single chip microcomputer of the unmanned trolley are connected and used for receiving data and images from the high-altitude mobile gateway and the ground mobile gateway.
The invention relates to a rotor unmanned aerial vehicle and an unmanned trolley networking, under the condition of controlling the unmanned aerial vehicle to take off and land by an instruction: the supervision background sends an instruction through a wireless data transmission module, the miniature single chip controller arranged below the multi-rotor unmanned aerial vehicle receives the instruction and controls the unmanned aerial vehicle to take off through a UART communication serial port, the multi-rotor unmanned aerial vehicle takes off in advance for a period of time, meanwhile, a machine vision module starts to identify the characteristics of the unmanned aerial vehicle to lock, after the unmanned aerial vehicle is successfully identified, transient fixed-height fixed-point flight is carried out, the unmanned aerial vehicle receives the supervision background instruction and moves forwards from a map starting point, and the unmanned aerial vehicle and an airborne computer carry out data receiving and sending through USB communication; the networking of the multi-rotor unmanned aerial vehicle and the unmanned trolley is realized cooperatively through a machine vision module on the multi-rotor unmanned aerial vehicle, and the machine vision module identifies a color block of the trolley by using a blob algorithm and identifies the shape of the unmanned trolley by using a quaternary detection algorithm.
The complete inspection process of the multi-rotor unmanned aerial vehicle and the unmanned trolley under the wireless local area network is shown in figure 2, and specifically comprises the following working processes:
step 1: starting a supervision background, a high-altitude mobile gateway node device and a ground mobile gateway device;
step 2: and starting the laser radar by the ground mobile gateway device and setting a terminal. The specific operation method comprises the following steps: the unmanned trolley starts a laser radar before the whole system device carries out polling tasks, scans 2D/3D point cloud data of the surrounding environment, determines the position of the unmanned trolley and constructs an environment map, carries out distance measurement through a triangular distance measurement method and a TOF method, and has the main principle that a laser emitter emits a beam of modulated laser signals, the modulated light is received by a laser detector after being reflected by a measured object, and the distance of a target can be calculated through measuring the phase difference of emitted laser and received laser.
And step 3: and (4) inputting a take-off instruction by the supervision background, confirming a flight mode by the high-altitude mobile gateway node device, entering a preset airspace, identifying the unmanned trolley and judging the position.
In the step, a monitoring background transmits instructions through a data transmission module, the data transmission module carried on the multi-rotor unmanned aerial vehicle is connected with a GPIO port of the underlying embedded single-chip microcontroller, the input takeoff instructions are wirelessly transmitted to a docking module on the multi-rotor unmanned aerial vehicle through the data transmission module, and after judgment is made, the underlying single-chip microcomputer sends takeoff signals to the autopilot;
the singlechip is positioned at the lower part of the airplane and mainly plays a role in externally connecting a sensor and communicating, and a serial port of the singlechip is led out to communicate with flight control on the one hand; and the other serial port is externally connected with a data transmission module to communicate with the outside. One end of the singlechip is in a switching mode, and the other end of the singlechip is in a take-off instruction. And the red light is in a normal mode, the key at the other end is pressed, the count is counted down for several seconds, and the airplane takes off. In the green light lighting mode, the airplane takes off and hovers for several seconds and then lands;
the step of identifying the unmanned trolley and judging the position is realized through a machine vision module, the acquired image information is processed to obtain the action to be done, the action comprises four movements of pitch direction, namely front and back, raw direction, namely left and right translation, yaw direction, namely left and right rotation and height, the movement instruction information is sent to flight control in real time, and the vision control autonomous flight is realized.
And 4, step 4: after flying into a predicted track right above the unmanned vehicle, the multi-rotor unmanned vehicle carries out temporary fixed-height fixed-point flight, establishes a communication channel with the supervision background, and receives data acquired by the airborne computer by the supervision background;
and 5: after the ground mobile gateway device sets a terminal point, the ground mobile gateway device starts countdown, the countdown is finished, a binocular camera is started to conduct navigation, the acquired image is returned to a supervision background, and the unmanned vehicle advances according to a route planned by an airborne computer;
step 6: the multi-rotor unmanned aerial vehicle moves by judging the position of the unmanned trolley, and a supervision person in a supervision background observes the wirelessly transmitted image for inspection;
and 7: if an emergency occurs, a monitoring person in the monitoring background records the position of the unmanned trolley, calls the unmanned trolley to stop moving in the monitoring background, finally carries out on-site investigation and error elimination until the alarm is removed, and continues to start the unmanned trolley to complete the next step;
and 8: if not meeting proruption situation, the unmanned trolley returns to the starting point on the way after advancing to the terminal point, get into standby state, many rotor unmanned aerial vehicle follow unmanned trolley and get back to the starting point, supervision personnel in supervision backstage input the landing instruction, many rotor unmanned aerial vehicle descends and gets into standby state, wait for next time take-off or close the system after ground-air cooperative network deployment's a round of inspection operation is accomplished, in this step, "input the landing instruction", supervision backstage realizes the transmission of instruction through data transmission module, the data transmission module that carries on many rotor unmanned aerial vehicle links to each other with embedded monolithic microcontroller GPIO mouth of undermount, the take-off instruction of input passes through data transmission module wireless transmission to the butt joint module on many rotor unmanned, after making the judgement, the underlying monolithic computer sends the landing signal to the autopilot.
The invention utilizes the multi-rotor unmanned aerial vehicle and the unmanned trolley to effectively complement the short boards of the multi-rotor unmanned aerial vehicle and the unmanned trolley during operation, completes the inspection task more efficiently, and reduces loss greatly during operation failure.
The invention relates to a networking device which takes an unmanned aerial vehicle as a master-slave high altitude for target detection, image acquisition and video transmission, and a trolley is added on the ground for image acquisition and auxiliary survey of a plane terrain, and the networking device is mainly applied to the ground-air cooperative work, and can simultaneously obtain clear high altitude and plane image information, position information and terrain information.
With laser radar, the binocular camera moves to join in marriage on ground mobile device, carry out the transmission of information with aerial mobile device with radio communication's mode, prevented on the one hand that expensive equipment from leading to the aircraft to drop and the huge loss that produces because of the sudden change of air environment, on the other hand has increased the accuracy of position information and terrain information, moreover use communication adaptation module to carry out the adaptation and the conversion of agreement according to the different agreement of equipment, make different networks fuse, and carry out data analysis and encapsulation according to the attribute of data with the terminal equipment data of gathering, the smoothness degree of communication has been promoted greatly.
According to the unmanned vehicle, a part of acquisition equipment is transferred to the ground mobile gateway, the unmanned vehicle plans an advancing route, the unmanned vehicle acquires image information of the surrounding environment, the two mobile gateway platforms integrate various communication technologies to ensure stable communication of the vehicle-unmanned vehicle networking, and an onboard computer is carried on the two mobile gateway platforms, so that the unmanned vehicle-unmanned vehicle networking system is more efficient and convenient to implement, and in addition, when other tasks are completed again, the device is high in adaptability. Data generated by the equipment terminal can be processed by the gateway and forwarded to the final manual supervision background.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (5)
1. The utility model provides an earth-air cooperative networking system, includes high altitude mobile gateway node device, ground mobile gateway node device and supervision backstage which characterized in that:
the high-altitude mobile gateway node device is responsible for carrying out cooperative inspection along with the ground mobile gateway node device, and acquiring images from high altitude and sending the images to the supervision background in real time;
the ground mobile gateway node device is responsible for routing inspection on the ground from a starting point to a terminal point and then returning the original path to the starting point, and collecting images from the ground and sending the images to the supervision background in real time;
the supervision background controls the high-altitude mobile gateway node device and the ground mobile gateway node device, so that the high-altitude mobile gateway node device and the ground mobile gateway node device can carry out routing inspection and troubleshooting in a specified starting and ending point and can carry out error detection and maintenance on an emergency,
wherein: high altitude removes net joint point device and is many rotor unmanned aerial vehicle, include:
a frame: the system is used for bearing the self-driving instrument, the airborne computer, the machine vision module, various data acquisition modules and the power system;
a power system: the power supply device is used for supplying power to the multi-rotor unmanned aerial vehicle so as to enable the multi-rotor unmanned aerial vehicle to operate stably;
an embedded single-chip microcomputer: the system is used for receiving signals of the supervision background and controlling the taking-off and landing modes of the multi-rotor unmanned aerial vehicle;
a machine vision module: the system is used for establishing communication with the ground mobile gateway node device, judging the position of the ground mobile gateway node device, controlling the flight speed of the multi-rotor unmanned aerial vehicle and confirming that the multi-rotor unmanned aerial vehicle is always in a module acquisition range;
a positioning module: the system is used for acquiring satellite signals and controlling the multi-rotor unmanned aerial vehicle to fly under certain conditions;
an airborne computer: the system is used for acquiring images, transmitting the images to a supervision background in real time for inspection, carrying various sensors to acquire data and selectively transmitting the data to the supervision background, and the airborne computer of the multi-rotor unmanned aerial vehicle is realized by an embedded GPU microcomputer based on ARM;
a command control system: the flight control system is used for receiving data acquired by various data acquisition modules, receiving flight instructions from the embedded single chip microcomputer to confirm a take-off mode and controlling flight by speed signals from the machine vision module;
the ground mobile network joint point device is an unmanned trolley and comprises:
a frame: the device is used for bearing various sensors and various control modules of the unmanned trolley;
a driving system: the device is used for controlling the advancing and steering actions of the unmanned trolley, receiving signals from an onboard computer and controlling the advancing mode by the signals;
binocular camera: the system is used for acquiring images and navigating the unmanned aerial vehicle to complete inspection;
laser radar: the method comprises the steps of constructing a plan for planning a route to avoid obstacles;
an ROS controller: the unmanned vehicle onboard computer is realized by an embedded GPU microcomputer based on ARM;
the supervision background comprises a data transceiving end used for receiving data and images from the high-altitude mobile gateway and the ground mobile gateway.
2. The ground-air cooperative networking system according to claim 1, wherein: the high-altitude mobile gateway node device is provided with a WiFi wireless communication module, and data receiving and sending are achieved through a wireless local area network.
3. The ground-air cooperative networking system according to claim 1, wherein: the ground mobile gateway node device is provided with a WiFi wireless communication module, and data receiving and sending are achieved through a wireless local area network.
4. The ground-air cooperative networking system according to claim 1, wherein: the monitoring background is provided with a WiFi wireless communication module, and data receiving and sending are achieved through a wireless local area network.
5. A control method of a ground-air cooperative networking system, the method being applied to the ground-air cooperative networking system according to claim 1, wherein: the control method comprises the following steps:
step 1: starting a supervision background, a high-altitude mobile gateway node device and a ground mobile gateway device;
and 2, step: starting a laser radar by the ground mobile gateway device and setting a terminal point;
and step 3: inputting a take-off instruction by a supervision background, confirming a flight mode by the high-altitude mobile gateway node device, entering a preset airspace, identifying the ground mobile gateway device and judging the position;
and 4, step 4: after confirming that the high-altitude mobile gateway node device flies into a predicted orbit right above the ground mobile gateway device, the high-altitude mobile gateway node device carries out temporary fixed-height fixed-point flight, establishes a communication channel with a supervision background, and the supervision background receives data acquired by an onboard computer;
and 5: after the ground mobile gateway device sets a terminal point, the ground mobile gateway device starts countdown, the countdown is finished, a binocular camera is started to perform navigation, the acquired image is returned to a supervision background, and the ground mobile gateway device advances according to a route planned by an onboard computer;
and 6: the high-altitude mobile gateway node device moves by judging the position of the ground mobile gateway device, and a supervision person at a supervision background observes the wirelessly transmitted image for inspection;
and 7: if an emergency occurs, a supervisor of a supervision background records the position of the ground mobile gateway device, calls the ground mobile gateway device to move in the supervision background, finally carries out on-site investigation and error elimination until an alarm is removed, and continues to start the ground mobile gateway device to complete the next step;
and 8: if the emergency situation is not met, the ground mobile gateway device returns to the starting point after moving to the terminal point, the ground mobile gateway device enters a standby state, the high-altitude mobile gateway node device does return to the starting point along with the ground mobile gateway device, a supervision person in a supervision background inputs a landing instruction, the high-altitude mobile gateway node device does descend to enter the standby state, and the next takeoff or system shutdown is waited after one-time polling operation of ground-air cooperative networking is completed.
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